US20240165811A1 - Device for setting safety parameters, teaching device and method - Google Patents

Device for setting safety parameters, teaching device and method Download PDF

Info

Publication number
US20240165811A1
US20240165811A1 US18/552,667 US202118552667A US2024165811A1 US 20240165811 A1 US20240165811 A1 US 20240165811A1 US 202118552667 A US202118552667 A US 202118552667A US 2024165811 A1 US2024165811 A1 US 2024165811A1
Authority
US
United States
Prior art keywords
sample
image
input
parameter
model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US18/552,667
Other languages
English (en)
Inventor
Nao OOSHIMA
Gou Inaba
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Assigned to FANUC CORPORATION reassignment FANUC CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: INABA, GOU, Ooshima, Nao
Publication of US20240165811A1 publication Critical patent/US20240165811A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
    • F16P3/14—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact

Definitions

  • the present disclosure relates to a device, a teaching device and a method of setting a safety parameter.
  • Patent Document 1 There is known a system that implements safety functions for ensuring the safety of robot work (e.g., Patent Document 1).
  • Patent Document 1 JP 2020-157462 A
  • a device in one aspect of the present disclosure, includes: a parameter setting section configured to set a safety parameter for ensuring safety of work performed by a machine; a storage configured to store a sample of the safety parameter, which is, prepared in advance; an input receiving section configured to receive an input for selecting the sample stored in the storage; and an import section configured to read out from the storage the sample selected through the input receiving section, and import the read sample to the parameter setting section.
  • the parameter setting section sets the imported sample as a new safety parameter.
  • a method of setting a safety parameter for ensuring safety of work performed by a machine includes: storing a sample prepared in advance of the safety parameter in a storage; and performing, by a processor, a function of setting the safety parameter; receiving, by a processor, an input for selecting the sample stored in the storage; reading out the sample selected by the input from the storage and importing the selected sample to the function; and setting the imported sample as a new safety parameter.
  • an operator can easily build a framework of safety parameters for a real machine by simply selecting a desired sample from among samples prepared in advance according to the machine.
  • the work of setting the safety parameter is greatly simplified compared to the methods in the related art of setting the safety parameter from the beginning one by one.
  • FIG. 1 is a diagram of a mechanical system according to one embodiment.
  • FIG. 2 is a block diagram of the mechanical system illustrated in FIG. 1 .
  • FIG. 3 illustrates an example of a limited area.
  • FIG. 4 illustrates another example of a limited area.
  • FIG. 5 illustrates an example of a plurality of limited areas contained in a composite sample.
  • FIG. 6 illustrates an example of a sample set selection image.
  • FIG. 7 illustrates an example of a sample selection image.
  • FIG. 8 illustrates an example of a sample description image.
  • FIG. 9 illustrates an example of a sample import image.
  • FIG. 10 illustrates an example of a sample adjusting image.
  • FIG. 11 illustrates another example of a sample description image.
  • FIG. 12 illustrates another example of a sample import image.
  • FIG. 13 illustrates another example of a sample adjusting image.
  • FIG. 14 illustrates still another example of a sample adjusting image.
  • FIG. 15 illustrates still another example of a sample adjusting image.
  • FIG. 16 illustrates an example of a sample list image.
  • FIG. 17 is a diagram of a network system according to one embodiment.
  • the mechanical system 10 performs predetermined work (workpiece handling, machining, welding, or the like) to a workpiece.
  • the mechanical system 10 includes a robot 12 , a peripheral device 14 , a controller 16 , and a teaching device 18 .
  • the robot 12 is a vertical articulated type robot and includes a robot base 20 , a rotary barrel 22 , a lower arm 24 , an upper arm 26 , a wrist 28 , and an end effector 30 .
  • the robot base 20 is fixed on a floor of a work cell.
  • the rotary barrel 22 is provided at the robot base 20 so as to be rotatable about the vertical axis.
  • the lower arm 24 is provided at the rotary barrel 22 so as to be rotatable about the horizontal axis.
  • the upper arm 26 is rotatably provided at a distal end of the lower arm 24 .
  • the wrist 28 is rotatably provided at a distal end of the upper arm 26 .
  • the end effector 30 is detachably attached to a distal end (so-called wrist flange) of the wrist 28 .
  • the end effector 30 is, for example, a robot hand capable of gripping the workpiece, a welding torch or a welding gun for welding the workpiece, or a tool for machining the workpiece, or the like, and performs work (workpiece handling, welding, machining) on the workpiece.
  • the robot base 20 , the rotary barrel 22 , the lower arm 24 , the upper arm 26 , and the wrist 28 are each provided with a plurality of servomotors (not illustrated) that rotate each movable element (i.e., rotary barrel 22 , lower arm 24 , upper arm 26 , wrist 28 ) of the robot 12 in response to a command from the controller 16 , thereby moving the end effector 30 to any position.
  • a plurality of servomotors not illustrated
  • the robot 12 is configured with a robot coordinate system C.
  • the robot coordinate system C is a coordinate system for automatically controlling each movable element of the robot 12 .
  • the robot coordinate system C is set with respect to the robot 12 such that the origin of the robot coordinate system C is arranged at the center of the robot base 20 and the z-axis of the robot coordinate system C coincides with the rotary axis of the rotary barrel 22 .
  • the peripheral device 14 is arranged around the robot 12 .
  • the peripheral device 14 is, for example, a conveyor for transporting a workpiece in one direction or a workpiece table device for moving an installed workpiece in the x-y plane of the robot coordinate system C, and includes a base 32 fixed to a work cell, a movable section 34 movably provided on the base 32 , and a servomotor (not illustrated) for driving the movable part 34 .
  • the peripheral device 14 moves the movable part 34 by driving the servo motor in response to a command from the controller 16 , thereby performing work (workpiece transfer work, etc.) different from that of the robot 12 on the workpiece.
  • work workpiece transfer work, etc.
  • the robot 12 and the peripheral device 14 work together on the workpiece.
  • the robot 12 and the peripheral device 14 constitute a machine 36 (specifically, industrial machine) that performs work on the workpiece.
  • the controller 16 controls the operation of the machine 36 (the robot 12 and the peripheral device 14 ).
  • the controller 16 is a computer including a processor (CPU, GPU, or the like), a storage (ROM, RAM), or the like.
  • the processor of the controller 16 generates commands to each servo motor of the machine 36 (the robot 12 and the peripheral device 14 ) according to the operation program OP and operates the machine 36 .
  • the teaching device 18 teaches an operation to the machine 36 .
  • the teaching device 18 is a computer including a processor 50 , a storage 52 , an I/O interface 54 , an input device 56 , and a display device 58 .
  • the processor 50 includes a CPU or GPU, or the like, and is communicably connected to the storage 52 , the I/O interface 54 , the input device 56 , and the display device 58 via a bus 60 , and performs arithmetic processing to set a safety parameter described later while communicating with these components.
  • the storage 52 includes a RAM or a ROM, or the like, and temporarily or permanently stores various data used in the arithmetic processing executed by the processor 50 and various data generated during the arithmetic processing.
  • the I/O interface 54 includes, for example, an Ethernet (trade name) port, a USB port, an optical fiber connector, or an HDMI (trade name) terminal, and communicates data by wire or wirelessly with an external device under a command from the processor 50 .
  • the controller 16 is communicably connected to the I/O interface 54 .
  • the input device 56 includes a push button, a keyboard, a mouse, or a touch panel, or the like, and receives data input from an operator.
  • the display device 58 includes a liquid crystal display or an organic EL display, or the like, and displays various data in a visually recognizable manner.
  • a safety function limiting the operation of the machine 36 may be performed in order to ensure the safety of the work.
  • a safety parameter SP is set for the machine 36 .
  • the safety parameter SP includes a limitation parameter RP defining a limited area RE and a limited speed V or the like of the machine 36 (e.g., robot 12 ), and model data MD of the machine 36 (robot 12 ).
  • FIG. 3 illustrates a limited area RE 1 where the robot 12 is allowed to enter during work.
  • the robot 12 is allowed to move a part set as a monitoring target (e.g., end effector 30 ) inside the limited area RE 1 , but is prohibited to move the part outside the limited area RE 1 .
  • the controller 16 brings the robot 12 to an emergency stop.
  • the controller 16 may reduce an operating speed V of the robot 12 (specifically, of the monitoring target part) from a normal speed V 0 determined as a work requirement to a lower limited speed V 1 ( ⁇ V 0 ) and also moves the monitoring target part away along a predetermined retraction path PT.
  • FIG. 4 illustrates a limited area RE 2 where the robot 12 is prohibited to enter during work.
  • the robot 12 is prohibited to move a monitoring target part inside the limited area RE 2 , while it is allowed to move outside the limited area RE 2 .
  • Each of the limited areas RE 1 and RE 2 can be determined as a group of coordinates P 1 (x 1 , y 1 , z 1 ), P 2 (x 2 , y 2 , z 2 ), . . . Pa (x n , y n , z n ) of the robot coordinate system C.
  • a limited speed V 2 determining the maximum allowable speed during work is set for the robot 12 .
  • the controller 16 brings the robot 12 to an emergency stop when the part (end effector 30 ) of the robot 12 set as the monitoring target exceeds the limited speed V 2 .
  • the controller 16 may reduce the operating speed V of the monitoring target part to less than or equal to the limited speed V 2 when the monitoring target part exceeds the limited speed V 2 .
  • These limited areas RE 1 and RE 2 , the limited speeds V 1 and V 2 , and the retraction path PT constitute the limitation parameter RP.
  • the model data MD is used to set the machine 36 to be monitored for the limitation parameter RP, and includes machine information MD 1 indicating the type, dimensions, or specifications, or the like of the machine 36 , and machine model MD 2 modeling the machine 36 (the robot 12 , the peripheral device 14 ), or the like.
  • the machine information MD 1 of the robot 12 includes an identification number ID (product number, or the like) that identifies the type of a main body of the robot 12 (assembly of, the robot base 20 , the rotary barrel 22 , the lower arm 24 , the upper arm 26 , and the wrist 28 ).
  • the machine information MD 1 of the robot 12 includes, as a specification of the main body of the robot 12 , a distance d MAX from the origin of the robot coordinate system C to a maximum arrival point (i.e., maximum arrival distance) where the robot 12 can reach the end effector 30 .
  • the machine information MD 1 of the robot 12 may also include information on the type, specification, dimensions, or mounting position of the end effector 30 .
  • a machine model MD 2 includes a machine model MD 2 _ 1 for the main body of the robot 12 and a machine model MD 2 _ 2 for the end effector 30 .
  • the machine model MD 2 _ 1 for the main body of the robot 12 includes at least one of drawing data MD 2 _ 1A (e.g., three-dimensional CAD data) of the main body of the robot 12 or a monitoring model MD 2 _ 1B representing the monitoring target of the main body.
  • the monitoring model MD 2 _ 1B is set to the main body so as to include a part (e.g., wrist) of the main body of the robot 12 and is data for schematically representing the part of the main body to be monitored.
  • the machine model MD 2 _ 2 for the end effector 30 includes at least one of drawing data MD 2 _ 2A (e.g., three-dimensional CAD data) of the end effector 30 and a monitoring model MD 2 _ 2B representing a monitoring target of the end effector 30 .
  • the monitoring model MD 2 _ 2B is set to the end effector 30 so as to include a part of the end effector 30 (e.g., finger or suction part) of the robot 12 , and is data for schematically representing a part of the end effector 30 to be monitored.
  • the limitation parameter RP and the model data MD are set as the safety parameter SP for the safety function.
  • an operator operates the teaching device 18 to set these safety parameters SP (the limited area RE, the limited speed V, the model data MD, or the like).
  • the storage 52 stores a plurality of samples SP′ of the safety parameter SP prepared in advance. Specifically, the storage 52 stores in advance, as the sample SP′, a sample (limit value sample) RP′ of the limitation parameter RP, a sample (model sample) MD′ of the model data MD, and a composite sample CS.
  • the limit value sample RP′ includes a sample (limit value sample) RE 1 ′ of the limited area RE 1 , a sample (limit value sample) RE 2 ′ of the limited area RE 2 , a sample (limit value sample) V of the limited speed V 1 or V 2 , and a sample (limit value sample) PT′ of the retraction path PT.
  • the storage 52 stores, as a plurality of limit value samples RE 1 ′ (or RE 2 ′): a first group of coordinates (x 1_1 , y 1_1 , z 1_1 ) to (x n_1 , y n_1 , z n_1 ) determining a first limit value sample RE 1 ′_ 1 (or RE 2 ′_ 1 ); a second group of coordinates (x 1_2 , y 1_2 , z 1_2 ) to (x n_2 , y n_2 , z n_2 ) defining a second limit value sample RE 1 ′_ 2 (or RE 2 ′_ 2 ); and a m-th group of coordinates (x 1_m , y 1_m , z 1_m ) to (x n_m , y n_m , z n_m ) . . . determining an m-th limit value
  • a plurality of limit value samples V′ that are different from each other are stored in the storage 52 as a value of speed V.
  • the storage 52 stores a first limit value sample PT′_ 1 , a second limit value sample PT′_ 2 , and . . . an m-th limit value sample PT′_m.
  • the limit value sample PT′ is represented, for example, as a coordinate of the coordinate system C.
  • the model sample MD′ includes the machine information MD 1 of the end effector 30 of the robot 12 and the machine model MD 2 _ 2 (specifically, drawing data MD 2 _ 2A and monitoring model MD 2 _ 2 B) of the end effector 30 .
  • the different various model samples MD′ are stored in the storage 52 .
  • the model sample MD′ includes, for example, a group of model samples MD′ 1 of a robot hand 30 A gripping an object with a plurality of fingers, a group of model samples MD′ 2 of a robot hand 30 B gripping an object with a suction part (e.g., electromagnet, sucking disc or vacuum device), a group of model samples MD′ 3 of a welding torch 30 C, and a group of model samples MD′ 4 of a welding gun 30 D.
  • a suction part e.g., electromagnet, sucking disc or vacuum device
  • the storage 52 stores a group of model samples MD′ 1_1 , MD′ 1_2 , . . . MD′ 1_m of the robot hand 30 A, a group of model samples MD′ 2_1 , MD′ 2_2 , . . . MD′ 2_m of the robot hand 30 B, a group of model samples MD′ 3_1 , MD′ 3_2 , . . . MD′ 3_m of the welding torch 30 C, and a group of model samples MD′ 4_1 , MD′ 4_2 , . . . MD′ 4_m of the welding gun 30 D.
  • the composite sample CS is a single sample that contains combined data of a plurality of safety parameters SP. This composite sample CS will be described with reference to FIG. 5 .
  • FIG. 5 illustrates an example of a work cell in which the robot 12 is arranged.
  • the limited area where the robot 12 is allowed to enter the first limited area RE 1 _ 1 indicated by a broken line, the second limited area RE 1 _ 2 indicated by a single dot-dash line, and the third limited area RE 1 _ 3 indicated by a double dot-dash line are set so as to surround the robot 12 .
  • the first limited area RE 1 _ 1 defines the outermost edge of the permissible operating range of the robot 12 during work, and is set, for example, to prohibit the robot 12 from moving outside the first limited area RE 1 _ 1 during the entire work process.
  • the second limited area RE 1 _ 2 is arranged inside the first limited area RE 1 _ 1 on the y-axis plus direction side of the robot coordinate system C as viewed from the robot 12 .
  • the third limited area RE 1 _ 3 is arranged inside the first limited area RE 1 _ 1 on the y-axis minus direction side of the robot coordinate system C as viewed from the robot 12 .
  • two sensor detection areas SE 1 and SE 2 are set adjacent to the x-axis plus direction side of the robot coordinate system C with respect to the first limited area RE 1 _ 1 .
  • the sensor detection area SE 1 is defined, for example, by a first object detection sensor 38 that can detect the entry of an object in a non-contact manner, and is placed adjacent on the x-axis plus direction side of the robot coordinate system C with respect to the second limited area RE 1 _ 2 .
  • the first object detection sensor 38 When detecting that an operator A enters (or approaches) a sensor detection area SE 1 , the first object detection sensor 38 sets a safety signal S 1 to “ON” (or “1”) and sends the signal to the controller 16 . Then, when the operator A exits (or leaves) the sensor detection area SE 1 , the first object detection sensor 38 sets the safety signal S 1 to “OFF” (or “0”).
  • a sensor detection area SE 2 is located adjacent to the y-axis minus direction side of the robot coordinate system C from the sensor detection area SE 1 , and adjacent to the x-axis plus direction side of the robot coordinate system C with respect to the third limited area RE 1 _ 3 .
  • the sensor detection area SE 2 is defined, for example, by a second object detection sensor 40 that can detect the entry of an object in a non-contact manner.
  • the second object detection sensor 40 When detecting the entry (or approach) of the operator A into the sensor detection area SE 2 , the second object detection sensor 40 sets a safety signal S 2 to “ON” and sends the signal to the controller 16 , and when the operator A exits (or leaves) the sensor detection area SE 2 , the second object detection sensor 40 sets the safety signal S 2 to “OFF”.
  • the operator A may perform work (e.g., workpiece handling between the operator A and the robot 12 ) in collaboration with the robot 12 .
  • the controller 16 performs the following safety function as an example. Specifically, the controller 16 makes first limited area RE 1 _ 1 valid for the entire duration of the work and prohibits the robot 12 from moving outside of the first limited area RE 1 _ 1 during the entire process of the work.
  • the controller 16 makes the third limited area RE 1 _ 3 valid and prohibits the robot 12 from moving outside the third limited area RE 1 _ 3 .
  • the controller 16 makes the second limited area RE 1 _ 2 valid and prohibits the robot 12 from moving outside the second limited area RE 1 _ 2 .
  • the controller 16 invalidates the second limited area RE 1 _ 2 .
  • a safety function may be performed by using a combination of a plurality of safety parameters SP (limited area RE 1 _ 1 , RE 1 _ 2 , RE 1 _ 3 ).
  • the combined data of the plurality of safety parameters SP is contained in the composite sample CS, and the storage 52 stores a plurality of composite samples CS 1 , CS 2 , and . . . CS m , each of which is various combinations of the safety parameters SP.
  • the composite sample CS m contains, for example, the data of the first limited area RE 1 _ 1 (a group of coordinates), the data of the second limited area RE 1 _ 2 , the data of the third limited area RE 1 _ 3 , and the machine model MD 2 for the robot 12 which are illustrated in FIG. 5 , in combination.
  • the data of the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 contained in the composite sample CS m constitute the limit value sample RE 1 ′.
  • the composite sample CS m may further include a limited area switching information SI for determining the relationship between “ON”/“OFF” of the safety signals ST and S 2 and the validity/invalidity of the second limited area RE 1 _ 2 and the third limited area RE 1 _ 3 .
  • the storage 52 stores a plurality of sample sets SS (sample sets SS 1 , SS 2 , . . . SS m ), each of which contains one limit value sample RE 1 ′, one limit value sample RE 2 ′, one model sample MD′, and one composite sample CS.
  • sample set SS m contains a set of the above-described limit value sample RE 1 ′_m, limit value sample RE 2 ′_m, model sample MD′ 1_m , and composite sample CS m . Note that only one of the limit value sample RE 1 ′, the limit value sample RE 2 ′, the model sample MD′, and the composite sample CS may be contained in the sample set SS.
  • the storage 52 stores a plurality of sample sets SS 1 , SS 2 , and . . . SS m , each containing various combinations of the sample SP′.
  • the various types of samples SP′ (limit value samples RE 1 ′, RE 2 ′ and V, model sample MD′, composite sample CS) and the sample set SS described above are created in advance as data of a first format FM 1 (extension:“.abc”) by using, for example, a different computer from the teaching device 18 , and stored in a first storage area 52 A of the storage 52 .
  • the operator sets the safety parameter SP based on these samples SP′ and sample set SS.
  • the operator operates the input device 56 to give a setting start command to the processor 50 of the teaching device 18 .
  • the processor 50 When receiving the setting start command through the input device 56 , the processor 50 first generates image data of a sample set selection image 100 illustrated in FIG. 6 and displays the image data on the display device 58 .
  • the sample set selection image 100 is a graphical user interface (GUI) that allows the operator to select the sample set SS, and is generated as computer graphics (CG) image data.
  • GUI graphical user interface
  • the sample set selection image 100 includes a plurality of sample set selection button images 102 and a scroll bar image 104 .
  • the plurality of sample set selection button images 102 are respectively associated with the sample set SS 1 , SS 2 , and . . . SS m which are stored in the storage 52 .
  • the operator can select the sample set SS associated with a clicked sample set selection button image 102 by operating the input device 56 and clicking one of the sample set selection button images 102 on the image. Further, the operator can change the sample set SS displayed by operating the input device 56 and sliding the scroll bar image 104 up and down on the image.
  • the information of the corresponding sample set SS may be displayed in the sample set selection button image 102 .
  • the case where the operator operates the input device 56 and clicks the sample set selection button image 102 of the sample set SS m will be described below.
  • the processor 50 receives, from the input device 56 , an input IP 1 for selecting the sample set SS m .
  • the processor 50 functions as an input receiving section 62 ( FIG. 2 ) that receives the input IP 1 .
  • the processor 50 When receiving the input IP 1 , the processor 50 generates image data of a sample selection image 110 illustrated in FIG. 7 and displays the generated image on the display device 58 .
  • the sample selection image 110 is a GUI that enables the operator to select a sample SP′ contained in the sample set SS m , and is generated as image data of CG.
  • the sample selection image 110 includes a first image area 112 , a second image area 114 , and a third image area 116 .
  • the first image area 112 displays a machine model MD 2 _ 1 (e.g., drawing data MD 2 _ 1A ) of the main body of the robot 12 .
  • the third image area 116 displays a button image 122 for selecting the limit value sample RE 1 ′, a button image 124 for selecting the limit value sample RE 2 ′, a button image 126 for selecting the model sample MD′ to be monitored, and a button image 128 for selecting the composite sample CS.
  • the operator can select the sample SP′ to be imported from among the limit value sample RE 1 ′, the limit value sample RE 2 ′, the model sample MD′, and the composite sample CS by operating the input device 56 and clicking one of the button images 122 , 124 , 126 and 128 on the image. Importing sample SP′ will be described later.
  • a sample list image 118 and a detail setting image 120 are displayed in the second image area 114 .
  • the button images 122 , 124 , 126 , and 128 for selecting the sample SP′ are displayed in the third image area 116 , the sample list image 118 is highlighted.
  • the processor 50 When an operator operates the input device 56 and selects the limit value sample RE 1 ′, the limit value sample RE 2 ′, the model sample MD′, or the composite sample CS on the image, the processor 50 functions as the input receiving section 62 and receives an input IP 2 through the input device 56 to select the limit value sample RE 1 ′, the limit value sample RE 2 ′, the model sample MD′, or the composite sample CS.
  • the processor 50 when the operator operates the input device 56 and clicks the button image 126 for selecting the model sample MD′, the processor 50 generates the image data of a sample description image 130 illustrated in FIG. 8 as CG and displays the sample description image 130 on the display device 58 according to the input IP 2 for selecting the model sample MD′.
  • the sample description image 130 is a GUI for describing the sample SP′ selected in the sample selection image 110 in FIG. 7 .
  • the processor 50 displays in the first image area 112 , the machine model MD 2 _ 2 (specifically, the drawing data MD 2 _ 2A and the monitoring model MD 2 _ 2B ) included in the selected model sample MD′.
  • the processor 50 functions as an image generating section 64 ( FIG. 2 ) that generates the image 130 displaying the machine model MD 2 _ 2 .
  • the machine model MD 2 _ 2 included in the model sample MD′ 1_m is displayed in the first image area 112 .
  • the monitoring model MD 2 _ 2B or drawing data MD 2 _ 2A ) may be displayed in the first image area 112 .
  • a determination button image 134 and a stop button image 136 are displayed along with a descriptive text 132 of the machine information MD 1 of the model sample MD′ 1_m .
  • the operator can check the machine information MD 1 of the selected model sample MD′ 1_m and the items that can be set, by viewing the descriptive text 132 .
  • the operator can operate the input device 56 and click the determination button image 134 or the stop button image 136 on the image.
  • the processor 50 Upon receiving an input IP 3 to click the stop button image 136 , the processor 50 again displays the sample selection image 110 illustrated in FIG. 7 on the display device 58 .
  • the processor 50 when receiving an input IP 4 for clicking the determination button image 134 , the processor 50 functions as the image generating section 64 to generate the image data of a sample import image 140 illustrated in FIG. 9 as CG and displays the image data on the display device 58 .
  • the sample import image 140 is a GUI for importing the selected sample SP′ to a function FC that sets the safety parameter SP.
  • the function FC for setting the safety parameter SP is implemented as an application in the teaching device 18 and stored as application software in the storage 52 .
  • the processor 50 sets a safety parameter FP by performing this function FC.
  • the processor 50 functions as a parameter setting section 66 ( FIG. 2 ) which sets the safety parameter FP.
  • the function FC i.e., the function of the parameter setting section 66 for setting the safety parameter SP will be described later with reference to FIG. 10 .
  • the machine model MD 2 _ 2 is displayed in the first image area 112 , as in the sample description image 130 illustrated in FIG. 8 , while a monitoring target setting image 142 , an import button image 144 , and the stop button image 136 are displayed in the third image area 116 .
  • the monitoring target setting image 142 is for adding the identification number (or, the address number of the setting destination) N when the selected model sample MD′ 1_m is imported to the function FC as a monitoring target.
  • the monitoring target setting image 142 includes a number input image 146 to input an identification number N.
  • the operator can operate the input device 56 to input the identification number N into the number input image 146 .
  • the identification number N “1” is input to the number input image 146 .
  • the import button image 144 is for importing the selected sample SP′(in FIG. 9 , the model sample MD′ 1_m ) to the function FC that sets the safety parameter SP, so that the operator can operate the input device 56 and click the import button image 144 on the image.
  • the processor 50 Upon receiving an input IP 5 via the input device 56 for clicking the import button image 144 , the processor 50 reads out the selected sample SP′ from the storage 52 and imports the selected sample SP′ to the function FC. Thus, in the present embodiment, the processor 50 functions as an import section 68 ( FIG. 2 ) that imports the sample SP′.
  • the processor 50 then functions as the parameter setting section 66 to set the imported sample SP′ as a new safety parameter SP′′ to the function FC and store the imported sample SP′ in a second storage area 52 B of the storage 52 .
  • This second storage area 52 B is a storage area of the storage 52 , separate from the first storage area 52 A for storing the sample SP′ and the sample set SS.
  • the processor 50 when receiving the input IP 5 , the processor 50 functions as the import section 68 to read out the sample SP′ from the first storage area 52 A of the storage 52 .
  • the processor 50 then converts the data format of the read sample SP′ from the first format FM 1 to a second format FM 2 (extension “.efg”) conforming to the function FC and imports the sample SP′ to the function FC, which may be stored in the second storage area 52 B as a temporary safety parameter SP′′.
  • the processor 50 imports the selected model sample MD′ 1_m to the function FC as the monitoring target for the identification number “1”, which is stored in the second storage area 52 B as a new safety parameter SP′′.
  • the processor 50 functions as the image generating section 64 to generate image data of a sample adjusting image 150 illustrated in FIG. 10 as CG and displays the image data on the display device 58 .
  • the processor 50 upon receiving the input IP 3 to click the stop button image 136 , the processor 50 again displays the sample selection image 110 illustrated in FIG. 7 on the display device 58 .
  • the sample adjusting image 150 illustrated in FIG. 10 is a GUI for performing the function FC that sets the safety parameter SP by the input operation of the operator.
  • the first image area 112 displays the machine model MD 2 _ 2 of the imported model sample MD′ 1_m .
  • the detail setting image 120 is highlighted.
  • a parameter display image 152 and the parameter adjusting image 154 are displayed in the third image area 116 .
  • the parameter display image 152 illustrates a list of the safety parameters SP′′ newly set in the function FC. Note that the initial safety parameter SP′ before making the adjustments described below is identical to the imported sample SP′.
  • the parameter display image 152 includes a limited area display image 156 and a monitoring target display image 158 .
  • the limited area display image 156 indicates the limited area RE set (i.e., imported) as the safety parameter SP′′.
  • the limited area display image 156 will be described later.
  • the monitoring target display image 158 illustrates the model sample MD′ set as a monitoring target in the safety parameter SP′′.
  • the model sample MD′ 1_m is imported as a monitoring target with the identification number “1”
  • the model sample MD′ 1_m is set in the safety parameter SP′′ as a monitoring target with the identification number “1”
  • the operator can import a plurality of model samples MD′ to the function FC along with giving the identification number N by the method described in FIGS. 7 to 9 .
  • the monitoring targets displayed in the monitoring target display image 158 increase as “NO. 1”, “NO. 2”, “NO. 3”, . . . , and so on.
  • the operator can import a plurality of model samples MD′, which are set to the safety parameters SP′′ in a form identifiable by the identification number N.
  • the parameter adjusting image 154 is for adjusting the temporary safety parameter SP′′ already set.
  • the parameter adjusting image 154 includes a dimension adjusting image 160 and a mounting position adjusting image 162 .
  • the dimension adjusting image 160 adjusts the machine information MD 1 of the model sample MD′ set as the safety parameter SP′′.
  • the dimension adjusting image 160 can adjust the dimension (e.g., the dimensions, of the fingers of the robot hand 30 A, of the suction part of the robot hand 30 B, of the welding torch 30 C, or of the arm of the welding gun 30 D) of the model sample MD′ included in the machine information MD 1 .
  • the dimension of the model sample MD′ 1_m as the monitoring target NO. 1 can be adjusted in the dimension adjusting image 160 .
  • numerical values of “length,” “width” and “height” are displayed as the dimensions of the model sample MD′ 1_m , and a numerical value increasing button image 164 and a numerical value decreasing button image 166 are also displayed.
  • the operator can operate the input device 56 to select the “length”, “width”, or “height” in the dimension adjusting image 160 on the image and to increase or decrease the numerical value of the selected “length”, “width”, or “height” by clicking the numerical value increasing button image 164 or the numerical value decreasing button image 166 on the image.
  • the operator may operate the input device 56 to directly input the numerical value of the “length”, “width”, or “height” without clicking the numerical value increasing button image 164 or the numerical value decreasing button image 166 .
  • the mounting position adjusting image 162 is for adjusting the end effector mounting position included in the machine information MD 1 of the model sample MD′.
  • the “wrist”, “upper arm” and “lower arm” are displayed as the end effector mounting positions, and the operator can select the end effector mounting position on the image from the “wrist”, “upper arm” and “lower arm” by operating the input device 56 .
  • the end effector mounting position of the selected model sample MD′ 1_m is set to the wrist 28 of the robot 12 .
  • the processor 50 may be configured to receive the end effector mounting position as a coordinate that indicates the position relative to the “wrist”, “upper arm”, and “lower arm” illustrated in the mounting position adjusting image 162 .
  • the processor 50 may further display, in the mounting position adjusting image 162 , a coordinate input image for inputting the coordinate (x, y, z) of the robot coordinate system C indicating the position relative to the “wrist”, “upper arm” and “lower arm”.
  • the operator can set the end effector mounting position to a position separated by that coordinate (x, y, z) from the “wrist”, “upper arm” or “lower arm” selected in the mounting position adjusting image 162 .
  • This configuration allows the operator to set the end effector mounting position in more detail.
  • the operator operates the input device 56 to give the processor 50 an input IP 6 for adjusting the machine information MD 1 (dimensions, end effector mounting position) of the model sample MD′ 1_m set as the temporary safety parameter SP′′.
  • the processor 50 functions as the parameter setting section and adjusts the safety parameter SP′′ (here, the dimensions of the model sample MD′ 1_m and the end effector mounting position) according to the received input IP 6 , thereby updating the safety parameter SP′′.
  • the import of the composite sample CS is described with reference to FIG. 7 .
  • the processor 50 functions as the input receiving section 62 to receive the input IP 2 for selecting the composite sample CS m , and then functions as the image generating section 64 to generate the image data of the sample description image 130 illustrated in FIG. 11 and display the image data on the display device 58 .
  • the first image area 112 illustrates the first limited area RE 1 _ 1 , the second limited area RE 1 _ 2 , and the third limited area RE 1 _ 3 (i.e., limit value sample RE 1 ′) contained in the composite sample CS m , along with the machine model MD 2 of the robot 12 .
  • the sensor detection areas SE 1 and SE 2 are displayed.
  • the data of the sensor detection areas SE 1 and SE 2 (specifically, coordinate in the coordinate system C) may be stored in the composite sample CS m as a limit value sample.
  • the operator can easily check the position relationships to the robot 12 of the first limited area RE 1 _ 1 , the second limited area RE 1 _ 2 , the third limited area RE 1 _ 3 , the sensor detection areas SE 1 and SE 2 , which are stored in the composite sample CS m .
  • the determination button image 134 and the stop button image 136 are displayed in the third image area 116 along with the descriptive text 132 of the composite sample CS m , similar to the sample description image 130 illustrated in FIG. 8 .
  • the processor 50 Upon receiving the input IP 4 , via the input device 56 , for clicking the determination button image 134 , the processor 50 functions as the image generating section 64 to generate the image data of the sample import image 140 illustrated in FIG. 12 as CG and display the generated image data on the display device 58 .
  • the limited areas RE 1 1 , RE 1 2 and RE 1 _ 3 , the sensor detection areas SE 1 and SE 2 , and the machine model MD 2 are displayed in the first image area 112 , similar to the sample description image 130 illustrated in FIG. 11 .
  • the third image area 116 displays a limited area setting image 170 , the monitoring target setting image 142 , the import button image 144 , and the stop button image 136 .
  • the limited area setting image 170 is for adding the identification number (or, the address number of the setting destination) N when importing the first limited area RE 1 _ 1 , the second limited area RE 1 _ 2 and the third limited area RE 1 _ 3 stored in the composite sample CS m to the function FC.
  • the limited area setting image 170 includes a number input image 172 for inputting the identification number N of the first limited area RE 1 _ 1 , a number input image 174 for inputting the identification number N of the second limited area RE 1 _ 2 , and a number input image 176 for inputting the identification number N of the third limited area RE 1 _ 3 .
  • the descriptive text of “operator approaches left side of robot” which explains the third limited area RE 1 _ 3 are listed next to the left of the number input images 172 , 174 and 176 , respectively.
  • the operator can operate the input device 56 to input the identification number N into each of the number input images 172 , 174 and 176 .
  • the identification number N: “1” is input to the number input image 172
  • the identification number N: “2” is input to the number input image 174
  • the identification number N: “3” is input to the number input image 176 .
  • the identification number N: “1” is input to the number input image 146 of the monitoring target setting image 142 , as in FIG. 9 .
  • the processor 50 receives the input IP 5 for clicking the import button image 144 , functions as the import section 68 , and reads out the data of the first limited area RE 1 _ 1 , the second limited area RE 1 _ 2 , and the third limited area RE 1 _ 3 , which are contained in the composite sample CS m , from the storage 52 and imports them to the function FC.
  • the processor 50 may read out the composite sample CS m (data of the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 ) from the first storage area 52 A, convert the data format of the composite sample CS m from the first format FM 1 to the second format FM 2 , import the converted composite sample CS m to the function FC, and store the converted composite sample CS m in the second storage area 52 B.
  • the processor 50 then functions as the parameter setting section 66 to set the imported composite sample CS m (data of the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 ) as a new safety parameter SP′′ into the function FC.
  • the processor 50 imports, to the function FC, the first limited area RE 1 _ 1 as a limited area with the identification number “1” (limited area NO. 1), the second limited area RE 1 _ 2 as a limited area with the identification number “2” (limited area NO. 2), and the third limited area RE 1 _ 3 as a limited area with the identification number “3” (limited area NO. 3).
  • the processor 50 sets the monitoring target NO. 1 ( FIG. 10 ) set in the safety parameter SP′′ as the monitoring target for the imported limited area NO. 1 (i.e., the first limited area RE 1 _ 1 ), limited area NO. 2 (i.e., the second limited area RE 1 _ 2 ), and limited area NO. 3 (i.e., the third limited area RE 1 _ 3 ).
  • the processor 50 sets the imported limited areas NO. 1 to 3 (i.e., data of the limited areas RE 1 _ 1 , RE 1 _ 2 , and RE 1 _ 3 , which are the limit value sample RE 1 ′) as a new safety parameter SP′′ for the imported monitoring target NO. 1 (model sample MD′ 1_m ).
  • the processor 50 may newly import, to the function FC, the model sample MD′ 1_m stored in the sample set SS m , as the monitoring target NO. 16.
  • the monitoring target NO. 16 is newly added to the monitoring target display image 158 ( FIG. 10 ) and set to the monitoring target for the imported limited areas NO. 1, NO. 2 and NO. 3.
  • the processor 50 then functions as the image generating section 64 to generate the image data of the sample adjusting image 150 illustrated in FIG. 13 as CG, which is displayed on the display device 58 .
  • the imported composite sample CS m (the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 , and the sensor detection areas SE 1 and SE 2 ) and the machine model MD 2 are displayed in the first image area 112 , as in FIG. 11 .
  • the imported monitoring targets NO. 1, NO. 2, and NO. 3, . . . are displayed in the monitoring target display image 158 , and the imported limited area NO. 1 (first limited area RE 1 _ 1 ), limited area NO. 2 (second limited area RE 1 _ 2 ), and limited area NO. 3 (third limited area RE 1 _ 3 ) are displayed in the limited area display image 156 .
  • the processor 50 may also receive an input of the identification number N, as well as the limited areas NO. 1 to 3, through the sample import image 140 illustrated in FIG. 12 , and may display the sensor detection areas SE 1 and SE 2 imported to the function FC in the limited area display image 156 .
  • the parameter adjusting image 154 in the third image area 116 illustrates an area adjustment image 180 .
  • the area adjustment image 180 is for adjusting the parameters (specifically, coordinates of the coordinate system C) of the limited area NO. 1, NO. 2, or NO. 3 set as a temporary safety parameter SP′′ and includes a numerical value increasing button image 182 and a numerical value decreasing button image 184 .
  • the functions of the area adjustment image 180 will be described below.
  • the operator can edit the limited area NO. 1, NO. 2, or NO. 3 arbitrarily through the area adjustment image 180 .
  • the processor 50 when the operator operates the input device 56 to select the limited area NO. 1 in the limited area display image 156 on the image, the processor 50 generates the sample adjusting image 150 illustrated in FIG. 14 and displays the generated sample adjusting image 150 on the display device 58 .
  • the limited area NO. 1 is highlighted to visually indicate that the limited area NO. 1 is selected in the limited area display image 156 .
  • first limited area RE_ 1 only the selected limited area NO. 1 (i.e., first limited area RE_ 1 ) is displayed together with the machine model MD 2 and a plurality of apexes P 1 , P 2 , P 3 , and P 4 defining the limited area NO. 1 (first limited area RE 1 _ 1 ) are visibly displayed.
  • the coordinates (x, y, z) of “position P 1 ”, “position P 2 ”, “position P 3 ” and “position P 4 ” corresponding to the apexes P 1 , P 2 , P 3 , and P 4 of the limited area NO. 1 are respectively displayed in a parameter adjusting image 154 .
  • the operator can operate the input device 56 and select one of the coordinates (x, y, z) of the positions P 1 to P 4 on the image, and the coordinate value of the selected coordinate (x, y, z) can be increased or decreased by clicking the numerical value increasing button image 182 or numerical value decreasing button image 184 on the image.
  • the operator may operate the input device 56 to directly input the coordinate value of the coordinate (x, y, z) without clicking the numerical value increasing button image 182 or the numerical value decreasing button image 184 .
  • the parameter (coordinate) of the limited area NO. 1 is adjusted.
  • the processor 50 when the operator operates the input device 56 and selects the limited area NO. 2 indicated in the limited area display image 156 on the image, the processor 50 generates the sample adjusting image 150 illustrated in FIG. 15 and displays the generated sample adjusting image 150 on the display device 58 . Similar to the adjustment of the parameters of the limited area NO. 1, the operator can operate the input device 56 to adjust the coordinate (x, y, z) of each apex P 1 to P 5 of the limited area NO. 2 through the sample adjusting image 150 illustrated in FIG. 15 .
  • the operator operates the input device 56 to give the processor 50 an input IP 6 for adjusting the limited areas NO. 1 to NO. 3 set as the temporary safety parameter SP′′.
  • the processor 50 functions as the parameter setting section and adjusts the temporary safety parameter SP′′ (here, the coordinates of the limited areas NO. 1 to 3) in response to the received input IP 6 , thereby updating the safety parameter SP′′.
  • the processor 50 may adjust the coordinates of the sensor detection areas SE 1 and SE 2 as well as the limited areas NO. 1 to 3 in response to the input from the input device 56 by the operator.
  • the processor 50 may also adjust the limited area switching information SI that defines the relationship between “ON”/“OFF” of the safety signals S 1 and S 2 and valid/invalid of the second limited area RE 1 _ 2 and the third limited area RE 1 _ 3 in response to an input from the input device 56 by the operator.
  • the processor 50 may display an image for adjusting the coordinates of the sensor detection areas SE 1 and SE 2 or the limited area switching information SI in the parameter adjusting image 154 .
  • the operator can select the limit value sample RE 1 ′_ m or RE 2 ′_ m contained in the sample set SS m , which is then imported to the function FC by operating the input device 56 and clicking button image 122 or 124 , as with the composite sample CS m described above.
  • the third image area 116 of the sample import image 140 illustrated in FIG. 12 displays one number input image 172 for specifying the identification number N of the limit value sample RE 1 ′_ m or RE 2 ′_ m and the number input image 146 .
  • the processor 50 When the import button image 144 is clicked, the processor 50 functions as the import section 68 and adds the identification number N entered in the number input image 172 to the limit value sample RE 1 ′_ m or RE 2 ′_ m , and set the limited area NO. N as a new safety parameter SP′′.
  • the operator can import the prepared sample SP′(specifically, the sample set SS containing a plurality of samples SP′) to the function FC and set the safety parameter SP′′ in the function FC based on the imported sample SP′.
  • the operator After setting and adjusting the safety parameter SP′′, the operator inputs a command to apply the safety parameter SP′′ set by the function FC to an operating condition OC to operate the machine 36 in actual work.
  • the processor 50 displays, in the sample adjusting image 150 , an application button image (not illustrated) for applying the safety parameter SP′′ to the operating condition OC.
  • the processor 50 receives an input IP 7 of the application button image through the input device 56 , and registers in the operating condition OC, the safety parameter SP′′ set at this time as the formal safety parameter SP.
  • the safety parameter SP as well as the conditions required to operate the machine 36 in the actual work may be registered.
  • the processor 50 may store the operating condition OC as data in the second format FM 2 in the second storage area 52 B (or a third storage area 52 C for the operating condition OC) of the storage 52 .
  • the processor 50 may store the operating condition OC in the second storage area 52 B (or the third storage area 52 C) as data in a third format FM 3 (Extension: “.xyz”).
  • the processor 50 may convert the data format of the safety parameter SP′′ from the second format FM 2 to the third format FM 3 and register the converted safety parameter SP′′ in the operating condition OC as a formal safety parameter SP.
  • the operator can set the safety parameter SP by using the function FC.
  • the processor 50 functions as the input receiving section 62 , the image generating section 64 , the parameter setting section 66 , and the import section 68 , and sets the safety parameter SP based on the samples SP′ stored in the storage 52 .
  • the processor 50 input receiving section 62 , image generating section 64 , parameter setting section 66 , import section 68
  • the storage 52 constitute a device 70 ( FIG. 2 ) that sets the safety parameter SP.
  • the storage 52 stores at least one prepared sample SP′
  • the input receiving section 62 receives the input IP 2 for selecting the sample SP′ stored in the storage 52
  • the import section 68 reads out the selected sample SP′ (model sample MD, composite sample CS m ) through the input receiving section 62 from the storage 52 and imports the selected sample SP′ to the parameter setting section 66 (function FC), and the parameter setting section 66 sets the imported sample SP′ as a new safety parameter SP′′.
  • the operator can easily build a framework of the safety parameter SP (limited area RE, or the like) for the machine 36 simply by selecting the desired samples SP′ from the prepared sample SP′ for the actual machine 36 .
  • the work of setting the safety parameter SP is greatly simplified compared to the methods in the related art of setting the safety parameter SP from the beginning one by one.
  • the parameter setting section 66 adjusts the set safety parameter SP′′ (dimensions of the model sample MD′ 1_m , the end effector mounting position, and the coordinates of the limited areas NO. 1 to 3) according to the input IP 6 received by the input receiving section 62 .
  • the safety parameter SP can be set more easily for various forms of the machine 36 .
  • the input receiving section 62 receives the input IP 1 for selecting the sample set SS stored in the storage 52 and the input IP 2 for selecting the sample SP′ stored in the selected sample set SS.
  • the operator can set the safety parameter SP by using the sample set SS that includes a set of several types of samples SP, thus making it easier to set the safety parameter SP.
  • the device 70 data of a plurality of safety parameters SP (first limited area RE 1 _ 1 , second limited area RE 1 _ 2 , third limited area RE 1 3 ) are combined and stored in the composite sample CS as one sample, and the parameter setting section 66 sets the data stored in the imported composite sample CS as new safety parameters SP′′.
  • the safety parameter SP for achieving the safety function described with reference to FIG. 5 can be easily set.
  • the import section 68 reads out, from the storage 52 , the limit value sample (data of the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 , stored in the composite sample CS) and the model sample MD′ 1_m , which are selected through the input receiving section 62 , and imports them to the parameter setting section 66 , and then the parameter setting section 66 sets the imported limit value samples RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 as anew safety parameter SP′′ and sets them for the imported model sample MD′ 1_m .
  • the operator can easily set the imported model sample MD′ 1_m as a monitoring target by the imported limit value samples RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 .
  • the image generating section 64 when the input receiving section 62 receives the input IP 2 for selecting the model sample MD′, the image generating section 64 generates the image 140 displaying the machine models MD 2 and MD 2 _ 2 included in the model sample MD′. With this configuration, the operator can easily check the type and structure of the selected model sample MD′.
  • the parameter setting section 66 sets the safety parameter SP′′ to the operating condition OC according to the input IP 7 received by the input receiving section 62 .
  • the operator can easily register the safety parameter SP′′ set based on the sample SP′ in the operating condition OC as the formal safety parameter SP.
  • the storage 52 stores the sample set SS and the processor 50 receives the input IP 1 for selecting the sample set SS through the sample set selection image 100 illustrated in FIG. 6 .
  • the present disclosure is not limited to this configuration, and the storage 52 may only store the sample SP′ (the limit value samples RE 1 ′, RE 2 ′, V and PT′, the model sample MD′ and the composite sample CS) without storing the sample set SS.
  • the processor 50 when receiving a setting start command, the processor 50 generates image data of the sample selection image 110 illustrated in FIG. 7 and displays the generated image on the display device 58 . Then, when functioning as the input receiving section 62 and receiving from the input device 56 the input IP 2 to click the button images 122 , 124 , 126 or 128 , the processor 50 generates image data of a sample list image 190 illustrated in FIG. 16 and displays the generated image on the display device 58 .
  • FIG. 16 illustrates an example of the sample list image 190 when the operator clicks the button image 122 (limit value sample RE 1 ′) in FIG. 7 .
  • the sample list image 190 includes a plurality of sample selection button images 192 and the scroll bar image 104 .
  • a plurality of sample selection button images 192 are respectively associated with the first limit value sample RE 1 ′_ 1 , the second limit value sample RE 1 ′_ 2 , . . . the m-th limit value sample RE 1 ′_ m , which are stored in the storage 52 .
  • the operator can also change the limit value sample RE 1 ′ displayed by sliding the scroll bar image 104 on the image.
  • the processor 50 when the operator operates the input device 56 and clicks a sample selection button image 192 corresponding to the m-th limit value sample RE 1 ′_ m on the image, the processor 50 generates the sample import image 140 for the m-th limit value sample RE 1 ′_ m as illustrated in FIG. 12 .
  • the selected m-th limit value sample RE 1 ′_ m is displayed in the first image area 112 , and the number input image 172 and the number input image 146 for inputting the identification number N to be added to the m-th limit value sample RE 1 ′_ m are displayed in the third image area 116 .
  • the processor 50 imports the m-th limit value sample RE 1 ′_ m to the function FC as the limited area NO. 5 in response to input IP 5 by clicking the import button image 144 , and sets the monitoring target NO. 6 set in the safety parameter SP′′ as the monitoring target for the imported limited area NO. 5.
  • the m-th limit value sample RE 1 ′_ m can be imported and set to the safety parameter SP′′.
  • buttons image 124 limit value sample RE 2 ′
  • 126 model sample MD′
  • button image 128 composite sample CS
  • the processor 50 may function as the parameter setting section 66 to automatically adjust the imported limit value sample RP′ in response to the machine information MD 1 included in the model sample MD′ imported to the function FC.
  • the machine information MD 1 of the model sample MD′ further includes the identification number ID to identify the type of main body of the robot 12 , or the maximum arrival distance d MAX of the robot 12 .
  • the processor 50 automatically adjusts the coordinate of the limit value sample RE 1 ′ or RE 2 ′(including the data stored in the composite sample CS) according to the identification number ID or the maximum arrival distance d MAX when the limit value sample RE 1 ′ or RE 2 ′ is imported through the sample import image 140 illustrated in FIG. 12 .
  • the processor 50 automatically adjusts the coordinates of the imported limit value sample RE 1 ′ or RE 2 ′ based on the coordinates and the maximum arrival distance d MAX so that the limited area RE 1 or RE 2 represented by the limit value sample RE 1 ′ or RE 2 ′ falls within the maximum arrival distance d MAX .
  • the storage 52 further stores a data table DT in which the identification number ID, and the coordinates of the limited areas RE 1 or RE 2 conforming to the robot 12 identified by the identification number, are stored in association with each other. Then, the processor 50 acquires the identification number ID when importing the model sample MD′, and reads out, from the data table DT, the coordinates of the limited area RE 1 or RE 2 corresponding to the identification number ID.
  • the processor 50 then automatically adjusts the coordinates of the imported limit value sample RE 1 ′ or RE 2 ′ based on the read coordinates (for example, so as to match with the read coordinates). In this way, the processor 50 (parameter setting section 66 ) can automatically adjust the imported limit value samples RE 1 ′, RE 2 ′ in response to the machine information MD 1 . This configuration further simplifies the work of setting the safety parameter SP.
  • the processor 50 may automatically retrieve the limit value sample RP′, the composite sample CS, or the sample set SS conforming to the acquired identification number ID or the maximum arrival distance d MAX from the storage 52 .
  • the processor 50 may display the retrieved limit value sample RP′, composite sample CS, or sample set SS in the sample set selection image 100 illustrated in FIG. 6 or the sample list image 190 illustrated in FIG. 16 .
  • the network system 200 includes the mechanical system 10 , an external device 202 , and a network 204 .
  • the external device 202 is, for example, an external server, which is a computer including a processor and a storage device.
  • the network 204 is, for example, a LAN (intranet, or the like) or the Internet that communicably connects the external device 202 and the teaching device 18 (specifically, I/O interface 54 ).
  • the external device 202 and the controller 16 may be connected via the network 204
  • the teaching device 18 may be connected to the external device 202 via the controller 16 and the network 204 .
  • the external device 202 is located in a first facility, while the mechanical system 10 is located in a second facility, away from the first facility.
  • the sample SP′ or the sample set SS described above is created with the external device 202 .
  • the external device 202 then transmits the sample SP′ or the sample set SS to the teaching device 18 via the network 204 in response to a request from the controller 16 or the teaching device 18 .
  • the processor 50 of the teaching device 18 acquires the sample SP′ or the sample set SS through the I/O interface 54 , which is then stored in the storage 52 .
  • the sample SP′ or the sample set SS is prepared before setting the safety parameter SP.
  • the operator of the external device 202 sequentially updates the sample SP′ or the sample set SS
  • the operator of the mechanical system 10 can acquire the latest sample SP′ or the sample set SS suitable for the real machine 36 from the external device 202 at any time through the network 204 .
  • the external device 202 is not limited to an external server and may be an external memory (such as a flash memory).
  • the external memory stores the sample SP′ or the sample set SS and is connected to the I/O interface 54 .
  • the processor 50 then acquires the sample SP′ or the sample set SS from the external device 202 as an external memory in response to the input from the operator, which is then stored in the storage 52 .
  • the new safety parameter SP′′ may be used to simulate the operation of the machine 36 .
  • the processor 50 in response to the input from the operator, the processor 50 generates, for example, the machine model MD 2 (e.g., drawing data) illustrated in the first image area 112 of FIG. 13 and the limited areas RE 1 _ 1 , RE 1 _ 2 and RE 1 _ 3 in the three-dimensional virtual space.
  • the processor 50 acquires the operation program OP of the machine 36 and operates the machine model MD 2 in the virtual space simulatively according to the operation program OP.
  • the limitation parameter RP set in the safety parameter SP′′ is applied to the operation of the machine 36 .
  • the operator can determine the suitability of the newly set safety parameter SP′′ based on the sample SP′.
  • the model sample MD′ of the end effector 30 is set as the monitoring target.
  • the present disclosure is not limited to this configuration, and any part of the main body of the robot 12 (robot base 20 , rotary barrel 22 , lower arm 24 , upper arm 26 , or wrist 28 ) can be set as a monitoring target.
  • an image for selecting the main body part of the robot 12 as a monitoring target may be displayed in the sample adjusting image 150 illustrated in FIG. 10 or FIG. 13 .
  • the part set as the monitoring target (robot base 20 , rotary barrel 22 , lower arm 24 , upper arm 26 , wrist 28 , or end effector 30 ) may be highlighted in a visually recognizable form (coloring, or the like).
  • the limit value sample V or PT′ may be added to the sample selection image 110 , the processor 50 may be configured to import the limit value sample V or PT′ to the function FC. It should be understood that the limit value sample V or PT′ can also be imported in the manner described above, as well as the limit value samples RE 1 ′ and RE 2 ′ and the composite sample CS.
  • model sample MD′ of the end effector 30 has been described, but the model sample MD′ of the main body of the robot 12 or of the peripheral device 14 can be imported by the above method.
  • the storage 52 stores multiple for each of: the model sample MD′ of the robot 12 or the peripheral device 14 ; and the limit value sample RP′ or the composite sample CS for the model sample MD′ of the robot 12 or the peripheral device 14 .
  • the processor 50 then imports the model sample MD′, and the limit value sample RP′ or the composite sample CS according to the input from the operator, and sets the imported limit value sample RP′ or the composite sample CS as a new safety parameter SP′′ for the model sample MD′ of, the main body of the imported robot 12 or the peripheral device 14 .
  • the processor 50 may set the area of the model sample MD′ of the imported peripheral device 14 to the limited area RE 2 in the safety parameter SP′′ in response to the input from the operator.
  • the setting image for setting the area of the model sample MD′ of the peripheral device 14 to the limited area RE 2 may be displayed.
  • the data of the limited area RE 2 where the robot 12 is prohibited to enter may be stored in the composite sample CS.
  • the first image area 112 may be omitted from the images 110 , 130 , 140 , and 150 illustrated in FIGS. 7 to 18 above.
  • the operator can select sample SP′ which is then imported to the function FC. That is, in this case, the image generating section 64 can be omitted from the device 70 .
  • the present disclosure is not limited to this configuration, a function to adjust the new safety parameter SP′′ can be demanded to a different device from the device 70 .
  • the device 70 sends the newly set safety parameter SP′′ to the other device.
  • the sample SP′ imported as the safety parameter SP′′ can be used as the safety parameter SP without adjustment.
  • the parameter setting section 66 sets a new safety parameter SP′′ to the operating condition OC according to the input IP 7 received by the input receiving section 62 .
  • a function to set the new safety parameter SP′′ to the operating condition OC can be demanded to a different device than the device 70 .
  • the safety parameter SP includes the model data MD
  • the model data MD need not necessarily be included in the safety parameter SP.
  • the storage 52 does not have to store the model sample MD′.
  • the safety parameter SP is not limited to limiting the operation of the machine 36 (e.g., robot 12 ) such as the limitation parameter RP, but may include parameters for securing the communication of the controller 16 , for example.
  • the processor 50 may function as the import section 68 and import the sample SP′ to the function FC as data in the same data format (specifically, the second format FM 2 or the third format FM 3 ) as the formal safety parameter SP registered in the operating condition OC.
  • the method of setting the safety parameter SP by using the GUI illustrated in FIGS. 6 to 16 is only an example, and the present disclosure is not limited to this.
  • the process of adding an identification number in the sample import image 140 illustrated in FIG. 9 or FIG. 12 may be omitted, and the process of setting the imported model sample MD′ as the monitoring target for the imported limitation sample RP′ or composite sample CS, may be any process.
  • the device 70 is incorporated into the teaching device 18 .
  • the present disclosure is not limited to this configuration, the device 70 may be incorporated into the controller 16 or any other computer (desktop or tablet PC).
  • the processor and the storage of the controller 16 or of another computer would constitute the device 70 .
  • the robot coordinate system C is used as a reference of the limit value sample RP′.
  • any coordinate system may be used as a reference for the limit value sample RP′, for example, such as a peripheral device coordinate system C set in the peripheral device 14 to control the peripheral device 14 , a work coordinate system set for the workpiece, a world coordinate system defining the three-dimensional space of the work cell, or the like.
  • a peripheral device coordinate system C set in the peripheral device 14 to control the peripheral device 14
  • a work coordinate system set for the workpiece a world coordinate system defining the three-dimensional space of the work cell, or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
US18/552,667 2021-04-28 2021-04-28 Device for setting safety parameters, teaching device and method Pending US20240165811A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/017077 WO2022230143A1 (ja) 2021-04-28 2021-04-28 安全パラメータを設定する装置、教示装置、及び方法

Publications (1)

Publication Number Publication Date
US20240165811A1 true US20240165811A1 (en) 2024-05-23

Family

ID=82693727

Family Applications (1)

Application Number Title Priority Date Filing Date
US18/552,667 Pending US20240165811A1 (en) 2021-04-28 2021-04-28 Device for setting safety parameters, teaching device and method

Country Status (6)

Country Link
US (1) US20240165811A1 (https=)
JP (3) JP7111911B1 (https=)
CN (1) CN117177846A (https=)
DE (1) DE112021007154T5 (https=)
TW (2) TW202508791A (https=)
WO (1) WO2022230143A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250073932A1 (en) * 2023-08-29 2025-03-06 Sick Ag Contactless safeguarding at a cooperation zone of a machine

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025179281A (ja) * 2022-10-26 2025-12-10 住友重機械工業株式会社 ロボット教示装置
JP7832421B1 (ja) * 2025-04-24 2026-03-17 ファナック株式会社 ロボットの動作を制御する制御装置及び方法、進入監視機能を設定する装置及び方法、並びに、コンピュータプログラム

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150151431A1 (en) * 2012-07-20 2015-06-04 Kabushiki Kaisha Yaskawa Denki Robot simulator, robot teaching device, and robot teaching method
US20160075025A1 (en) * 2014-09-16 2016-03-17 Fanuc Corporation Robot system for setting motion monitoring range of robot
US20170274528A1 (en) * 2016-03-24 2017-09-28 Fanuc Corporation Robot system that controls robot including multiple mechanical units, the mechanical units, and robot control device
US20180161978A1 (en) * 2016-12-08 2018-06-14 Fanuc Corporation Interference region setting apparatus for mobile robot
US20180222050A1 (en) * 2017-02-07 2018-08-09 Clara Vu Detecting and classifying workspace regions for safety monitoring
US20210053227A1 (en) * 2019-08-23 2021-02-25 Marek WARTENBERG Safe operation of machinery using potential occupancy envelopes
US20220331972A1 (en) * 2021-04-15 2022-10-20 Seiko Epson Corporation Robot Image Display Method, Recording Medium, And Robot Image Display System

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05297920A (ja) * 1992-04-20 1993-11-12 Hitachi Ltd ロボットの制御装置
JPH0724762A (ja) * 1993-06-30 1995-01-27 Toyoda Mach Works Ltd ロボット制御装置
JPH10161719A (ja) * 1996-11-29 1998-06-19 Daihen Corp 産業用ロボットのシステム構築シミュレーション装置
JP3537362B2 (ja) * 1999-10-12 2004-06-14 ファナック株式会社 ロボットシステム用グラフィック表示装置
DE102005037650A1 (de) * 2005-08-05 2007-02-08 Reis Gmbh & Co. Kg Maschinenfabrik Verfahren und System zur Überwachung von Kollisionen zwischen Robotern und Personen
DE102015204641B4 (de) * 2014-06-03 2021-03-25 ArtiMinds Robotics GmbH Verfahren und System zur Programmierung eines Roboters
JP5977314B2 (ja) * 2014-11-04 2016-08-24 本田技研工業株式会社 ロボットの干渉エリア設定方法及び干渉エリア設定装置
JP2016118893A (ja) * 2014-12-19 2016-06-30 株式会社アイエイアイ パラメータ設定装置、パラメータ設定方法、及び、プログラム
JP6496272B2 (ja) * 2016-04-15 2019-04-03 ファナック株式会社 パラメータ設定装置、パラメータ設定プログラム及びパラメータ設定方法
JP7036078B2 (ja) * 2019-03-28 2022-03-15 オムロン株式会社 制御システム、制御方法、および制御ユニット

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150151431A1 (en) * 2012-07-20 2015-06-04 Kabushiki Kaisha Yaskawa Denki Robot simulator, robot teaching device, and robot teaching method
US20160075025A1 (en) * 2014-09-16 2016-03-17 Fanuc Corporation Robot system for setting motion monitoring range of robot
US20170274528A1 (en) * 2016-03-24 2017-09-28 Fanuc Corporation Robot system that controls robot including multiple mechanical units, the mechanical units, and robot control device
US20180161978A1 (en) * 2016-12-08 2018-06-14 Fanuc Corporation Interference region setting apparatus for mobile robot
US20180222050A1 (en) * 2017-02-07 2018-08-09 Clara Vu Detecting and classifying workspace regions for safety monitoring
US20210053227A1 (en) * 2019-08-23 2021-02-25 Marek WARTENBERG Safe operation of machinery using potential occupancy envelopes
US20220331972A1 (en) * 2021-04-15 2022-10-20 Seiko Epson Corporation Robot Image Display Method, Recording Medium, And Robot Image Display System
JP2022163836A (ja) * 2021-04-15 2022-10-27 セイコーエプソン株式会社 ロボット画像の表示方法、コンピュータープログラム、及び、ロボット画像の表示システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Hama, Translation of JP2022163836A (Published October 27, 2022 / Filed April 15, 2021); Translation acquired through Patent Translate on November 5, 2025. *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20250073932A1 (en) * 2023-08-29 2025-03-06 Sick Ag Contactless safeguarding at a cooperation zone of a machine

Also Published As

Publication number Publication date
JP2022170738A (ja) 2022-11-10
TW202241671A (zh) 2022-11-01
CN117177846A (zh) 2023-12-05
JP7708904B2 (ja) 2025-07-15
JP7444928B2 (ja) 2024-03-06
WO2022230143A1 (ja) 2022-11-03
DE112021007154T5 (de) 2023-12-21
JPWO2022230143A1 (https=) 2022-11-03
TWI867284B (zh) 2024-12-21
JP7111911B1 (ja) 2022-08-02
JP2024046682A (ja) 2024-04-03
TW202508791A (zh) 2025-03-01

Similar Documents

Publication Publication Date Title
EP3178618B1 (en) Offline teaching device
US20240165811A1 (en) Device for setting safety parameters, teaching device and method
JP6676286B2 (ja) 情報処理方法、および情報処理装置
EP3354418B1 (en) Robot control method and device
US10534876B2 (en) Simulation device and simulation method that carry out simulation of operation of robot system, and recording medium that records computer program
US12372945B2 (en) Numerical control system
US11429082B2 (en) Parameter management apparatus and parameter management system
WO2019082704A1 (ja) サーボモータ調整装置およびサーボモータ調整方法
JP2020086759A (ja) ３次元モデル作成装置、加工シミュレーション装置、工具経路自動生成装置
JP6841805B2 (ja) ロボット教示装置、ロボット教示方法、及び動作命令を記憶する方法
WO2019064919A1 (ja) ロボット教示装置
JP7167925B2 (ja) ロボット教示装置
JP7460796B2 (ja) 制御装置
WO2022190545A1 (ja) 安全検証装置、安全検証方法、およびプログラム
JP7024795B2 (ja) ロボット教示装置
JP7099470B2 (ja) ロボット教示装置
JP7328473B1 (ja) 制御装置、産業機械のシステム、実行履歴データ表示方法、及びプログラム
JP7481591B1 (ja) サーチモデルを生成する装置及び方法、作業位置を教示する装置及び方法、並びに制御装置
WO2025158559A1 (ja) ツール座標系の設定装置及び設定方法並びにロボットシステム
CN116420120A (zh) 控制装置
KR20210099931A (ko) 공작기계 모니터 화면의 그래픽 기반 이미지 애니메이션 제어 방법

Legal Events

Date Code Title Description
AS Assignment

Owner name: FANUC CORPORATION, JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:OOSHIMA, NAO;INABA, GOU;REEL/FRAME:065039/0008

Effective date: 20230614

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION COUNTED, NOT YET MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION COUNTED, NOT YET MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED